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cs.RO2025★ 1 cited
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
Ji Yin, Oswin So, Eric Yang Yu +2
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have show…
cs.RO2024
Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding
Ji Yin, Panagiotis Tsiotras, Karl Berntorp
This paper introduces a novel nonlinear stochastic model predictive control path integral (MPPI) method, which considers chance constraints on system states. The proposed belief-sp…
cs.RO2022
Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk
Ji Yin, Zhiyuan Zhang, Panagiotis Tsiotras
In this paper, we present a novel Model Predictive Control method for autonomous robots subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Int…